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(14)
(13)
(12)
Figure 17 - Diagramme de machine à état NMT d'un périphérique CANopen
(1)
At Power on the NMT state initialization is entered autonomously
(2)
NMT state initialization finished – enter NMT state Pre-operational automatically
(3)
NMT service start remote node indication or by local control
(4), (7)
NMT service enter pre-operational indication
(5), (8)
NMT service stop remote node indication
(6)
NMT service start remote node indication
(9), (10), (11)
NMT service reset node indication
(12), (13), (14)
NMT service reset communication indication
La disponibilité des protocoles dépend de l'état du nœud, le tableau ci-dessous présente cette disponibilité :
Pre-operational
PDO
SDO
NMT
EMCY
SRDO
SYNC
Heartbeat
Timestamp
Version 2.0.2_FR – 31/10/2023 - SWD®
Power on or hardware reset
(1)
Initialisation
(2)
Pre-operational
(4)
(3)
Operational
✓
✓
✓
✓
✓
(7)
(5)
Stopped
(6)
(8)
Operational
✓
✓
✓
✓
✓
✓
✓
Not supported
NOTICE D'INSTRUCTION
SWD®
(11)
(10)
(9)
Stopped
✓
✓
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